Soft robotics is an emerging sub-field of robotics that has gained much attention in recent years. Fabricated with compliant and deformable materials, soft robots can perform tasks that would be extremely challenging for conventional rigid robots [1]}. What makes soft manipulators particularly interesting is that their inherent compliance makes them more suitable for human-robot interactions and compliant operations with the environment [2]}. Their continuum properties also enable them to adapt to complex environments where rigid robots may fail [3]}.
